kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
Start with BMX055, but not working yet
Pawel Jalocha
rodzic
11a90da716
commit
03544ae16a
|
|
@ -19,7 +19,8 @@
|
|||
// #define WITH_OLED // OLED display on the I2C: some TTGO modules are without OLED display
|
||||
// #define WITH_OLED2 // 2nd OLED display, I2C address next higher
|
||||
#define WITH_U8G2_OLED // I2C OLED through the U8g2 library
|
||||
#define WITH_U8G2_SH1106
|
||||
#define WITH_U8G2_SH1106 // correct controller for the bigger OLED
|
||||
#define WITH_U8G2_FLIP // flip the OLED screen (rotate by 180deg)
|
||||
|
||||
#define WITH_RFM95 // RF chip selection: both HELTEC and TTGO use sx1276 which is same as RFM95
|
||||
|
||||
|
|
@ -49,6 +50,8 @@
|
|||
// #define WITH_MS5607 // MS5607 pressure sensor
|
||||
// #define WITH_MS5611 // MS5611 pressure sensor
|
||||
|
||||
#define WITH_BMX055 // BMX055 magnetic and IMU sensor
|
||||
|
||||
#define WITH_PFLAA // PFLAU and PFLAA for compatibility with XCsoar and LK8000
|
||||
// #define WITH_POGNT
|
||||
#define WITH_LOOKOUT
|
||||
|
|
|
|||
|
|
@ -0,0 +1,87 @@
|
|||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "hal.h"
|
||||
|
||||
class BMX055_ACC
|
||||
{ private:
|
||||
static const uint8_t ADDR0 = 0x18; // possible I2C addresses
|
||||
static const uint8_t ADDR1 = 0x19;
|
||||
|
||||
static const uint8_t REG_ID = 0x00;
|
||||
|
||||
public:
|
||||
uint8_t Bus; // which I2C bus
|
||||
uint8_t ADDR; // detected I2C address
|
||||
uint8_t ID; // 0x58 for BMP280, 0x60 for BME280
|
||||
|
||||
public:
|
||||
uint8_t Error; // error on the I2C bus (0=no error)
|
||||
|
||||
uint8_t CheckID(void) // check ID
|
||||
{ ADDR=0;
|
||||
Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
|
||||
if( (!Error) && (ID==0xFA) ) { ADDR=ADDR0; return 0; }
|
||||
Error=I2C_Read(Bus, ADDR1, REG_ID, ID);
|
||||
if( (!Error) && (ID==0xFA) ) { ADDR=ADDR1; return 0; }
|
||||
return 1; } // 0 => no error and correct ID
|
||||
|
||||
} ;
|
||||
|
||||
class BMX055_GYR
|
||||
{ private:
|
||||
static const uint8_t ADDR0 = 0x68; // possible I2C addresses
|
||||
static const uint8_t ADDR1 = 0x69;
|
||||
|
||||
static const uint8_t REG_ID = 0x00;
|
||||
|
||||
public:
|
||||
uint8_t Bus; // which I2C bus
|
||||
uint8_t ADDR; // detected I2C address
|
||||
uint8_t ID; // 0x58 for BMP280, 0x60 for BME280
|
||||
|
||||
public:
|
||||
uint8_t Error; // error on the I2C bus (0=no error)
|
||||
|
||||
uint8_t CheckID(void) // check ID
|
||||
{ ADDR=0;
|
||||
Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
|
||||
if( (!Error) && (ID==0x0F) ) { ADDR=ADDR0; return 0; }
|
||||
Error=I2C_Read(Bus, ADDR1, REG_ID, ID);
|
||||
if( (!Error) && (ID==0x0F) ) { ADDR=ADDR1; return 0; }
|
||||
return 1; } // 0 => no error and correct ID
|
||||
|
||||
} ;
|
||||
|
||||
class BMX055_MAG
|
||||
{ private:
|
||||
static const uint8_t ADDR0 = 0x10; // possible I2C addresses
|
||||
static const uint8_t ADDR1 = 0x11;
|
||||
static const uint8_t ADDR2 = 0x12;
|
||||
static const uint8_t ADDR3 = 0x13;
|
||||
|
||||
static const uint8_t REG_ID = 0x32;
|
||||
|
||||
public:
|
||||
uint8_t Bus; // which I2C bus
|
||||
uint8_t ADDR; // detected I2C address
|
||||
uint8_t ID; // 0x58 for BMP280, 0x60 for BME280
|
||||
|
||||
public:
|
||||
uint8_t Error; // error on the I2C bus (0=no error)
|
||||
|
||||
uint8_t CheckID(void) // check ID
|
||||
{ ADDR=0;
|
||||
Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
|
||||
if( (!Error) && (ID==0x32) ) { ADDR=ADDR0; return 0; }
|
||||
Error=I2C_Read(Bus, ADDR1, REG_ID, ID);
|
||||
if( (!Error) && (ID==0x32) ) { ADDR=ADDR1; return 0; }
|
||||
Error=I2C_Read(Bus, ADDR2, REG_ID, ID);
|
||||
if( (!Error) && (ID==0x32) ) { ADDR=ADDR2; return 0; }
|
||||
Error=I2C_Read(Bus, ADDR3, REG_ID, ID);
|
||||
if( (!Error) && (ID==0x32) ) { ADDR=ADDR3; return 0; }
|
||||
return 1; } // 0 => no error and correct ID
|
||||
|
||||
} ;
|
||||
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
#include "hal.h"
|
||||
#include "sens.h"
|
||||
#include "imu.h"
|
||||
|
||||
#include "timesync.h"
|
||||
|
||||
#include "parameters.h"
|
||||
|
||||
#include "proc.h"
|
||||
#include "ctrl.h"
|
||||
#include "gps.h"
|
||||
|
||||
#ifdef WITH_BMX055
|
||||
|
||||
#include "bmx055.h"
|
||||
|
||||
BMX055_MAG MAG;
|
||||
BMX055_ACC ACC;
|
||||
BMX055_GYR GYR;
|
||||
|
||||
static uint8_t InitIMU(void)
|
||||
{ MAG.Bus=BARO_I2C;
|
||||
ACC.Bus=BARO_I2C;
|
||||
GYR.Bus=BARO_I2C;
|
||||
uint8_t Err = MAG.CheckID(); Err<<=1;
|
||||
if(!Err) Err |= ACC.CheckID(); Err<<=1;
|
||||
if(!Err) Err |= GYR.CheckID();
|
||||
return Err; }
|
||||
|
||||
static void ProcIMU(void)
|
||||
{
|
||||
int16_t Sec = 10*(TimeSync_Time()%60); // [0.1sec]
|
||||
uint16_t Phase = TimeSync_msTime(); // sync to the GPS PPS
|
||||
if(Phase>=500) { Sec+=10; vTaskDelay(1000-Phase); } // wait till start of the measuring period
|
||||
else { Sec+= 5; vTaskDelay( 500-Phase); }
|
||||
if(Sec>=600) Sec-=600; // [0.1sec] measurement time
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
extern "C"
|
||||
void vTaskIMU(void* pvParameters)
|
||||
{ vTaskDelay(100); // ?
|
||||
|
||||
#ifdef WITH_BMX055
|
||||
uint8_t Detected = InitIMU();
|
||||
xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
|
||||
Format_String(CONS_UART_Write, "TaskIMU: ");
|
||||
Format_Hex(CONS_UART_Write, Detected); CONS_UART_Write(':'); CONS_UART_Write(' ');
|
||||
Format_Hex(CONS_UART_Write, MAG.ADDR); CONS_UART_Write(',');
|
||||
Format_Hex(CONS_UART_Write, ACC.ADDR); CONS_UART_Write(',');
|
||||
Format_Hex(CONS_UART_Write, GYR.ADDR);
|
||||
Format_String(CONS_UART_Write, "\n");
|
||||
xSemaphoreGive(CONS_Mutex);
|
||||
#endif
|
||||
|
||||
while(1)
|
||||
{
|
||||
#ifdef WITH_BMX055
|
||||
if(PowerMode) ProcIMU();
|
||||
else vTaskDelay(100);
|
||||
#else
|
||||
vTaskDelay(1000);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
#ifndef __IMU_H__
|
||||
#define __IMU_H__
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
#endif
|
||||
void vTaskIMU(void* pvParameters);
|
||||
|
||||
#endif // __IMU_H__
|
||||
|
||||
|
||||
Ładowanie…
Reference in New Issue